RGB-D image acquisition method

An RGB-D, image acquisition technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problems of limited application scenarios, poor imaging quality, small ranging range, etc., to achieve high quality, improved quality, practical strong effect

Active Publication Date: 2015-03-25
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

However, the Kinect sensor itself has two application limitations: first, its application scenarios are limited to indoor environments, and in outdoor environments, due to factors such as light intensity, its image quality is very poor and cannot be used; second, its range is very small At present, the effective ranging range of Kinect on the market is 2.5 meters, so it is very limited for applications requiring longer ranging distances

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0033] The present invention proposes a method for acquiring RGB-D images in an outdoor environment. First, obtain a depth image and a color image respectively, and then realize the combination of the depth image and the color image based on a pinhole camera model (Pin-hole Camera Model). Registration, such as figure 1 As shown, the method includes:

[0034] Step S1: Calibrate the depth camera to obtain the internal parameter A of the depth camera d , external parameters [R d | T d ], calibrate the color camera, and obtain the internal parameter A of the color camera c , external parameters [R c | T c ], calculate the relative extrinsic parameters of the depth camera in the color camera camera coordinate system [R ...

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Abstract

The invention discloses an RGB-D image acquisition method. The RGB-D image acquisition method includes the steps that a depth camera is calibrated to obtain internal parameters Ad and external parameters [Rd|Td] of the depth camera, a color camera is calibrated to obtain internal parameters Ac and external parameters [Rc|Tc] of the color camera, and relative external parameters [Rr|Tr] of the depth camera under a camera coordinate system of the color camera are calculated; a depth image and a color image of one photographic field are obtained through the depth camera and the color camera respectively, the obtained Ad, the obtained Ac and the obtained [Rr|Tr] are used for projecting points on the depth image to the color image based on a pinhole camera model, registering of the depth image and the color image is carried out, and a registered RGB-D image is obtained. The RGB-D image acquisition method has the good application value for obtaining the RGB-D image in the outdoor environment.

Description

technical field [0001] The invention relates to the technical field of image acquisition, in particular to a technology for acquiring RGB-D images in an outdoor environment. Background technique [0002] Human beings have entered the information age, and the typical feature of the information age is to use sensors to perceive environmental data and send them to the control center for centralized processing to generate useful decision-making control information. The continuous development of sensor technology provides more accurate and more diverse data for sensing the environment. Camera is a very common type of sensor in daily life. Its appearance has brought a lot of fun to people's life, such as taking pictures to record wonderful moments, making video clips, etc. In the context of continuous development and innovation of technologies such as computers, artificial intelligence, and machine vision, the value of images captured by cameras is increasing, and there are more ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/40
CPCG06T7/55G06T7/80G06T2207/10024G06T2207/10028
Inventor 汤淑明朱新亮王金桥
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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